Method and apparatus for performing pruning operations using an autonomous vehicle

ABSTRACT

An autonomous vehicle apparatus and method for performing pruning operations on a plant being cultivated in a container is disclosed. The apparatus includes a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace. The apparatus also includes a plant support operable to receive and secure the container in an upright condition with respect to a vertical axis extending generally vertically through the container and the plant. The apparatus further includes a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support, and a pruning tool mounted on the vehicle and disposed to prune the plant while causing rotational movement of at least one of the pruning tool and the container about the vertical axis.

RELATED APPLICATIONS

This application is a Continuation in part of U.S. patent applicationSer. No. 16/510,070 filed on Jul. 12, 2019, and entitled “METHOD ANDAPPARATUS FOR PERFORMING PRUNING OPERATIONS USING AN AUTONOMOUSVEHICLE”.

U.S. patent application Ser. No. 16/510,070 claims the benefit ofprovisional patent application 62/751,868 entitled “METHOD AND APPARATUSFOR PLANT TRIMMING USING AN AUTONOMOUS MOBILE WORK STATION”, filed onOct. 29, 2018 and incorporated herein by reference in its entirety.

BACKGROUND 1. Field

This disclosure relates generally to automated vehicles moreparticularly to an autonomous vehicle for performing pruning operationson plants being cultivated in containers.

2. Description of Related Art

Autonomous or semi-autonomous vehicles may be used to carry outoperations in an industrial or commercial workspace. Autonomous vehiclesare typically configured with an ability to navigate and to detectobjects within the workspace and may perform handling operations thatmay otherwise be performed manually by human workers. In the example ofa plant nursery, plants are typically cultivated in containers, whichmay be numerous and also heavy to move. Operations such as pruning ofthe plant may be required one or more times through the cultivationcycle and when performed manually by a human is labor intensive andtedious. Automated pruning solutions exist but generally involve amanual labor component. There remains a need for methods and apparatusfor performing pruning operations.

SUMMARY

In accordance with one disclosed aspect there is provided an autonomousvehicle apparatus for performing pruning operations on a plant beingcultivated in a container. The apparatus includes a wheeled chassisoperably configured to autonomously navigate to a location of thecontainer within a workspace. The apparatus also includes a plantsupport operable to receive and secure the container in an uprightcondition with respect to a vertical axis extending generally verticallythrough the container and the plant. The apparatus further includes amanipulator mounted to the vehicle and operable to grasp and load thecontainer onto the plant support, and a pruning tool mounted on thevehicle and disposed to prune the plant while causing rotationalmovement of at least one of the pruning tool and the container about thevertical axis.

The rotational movement may be provided by rotating the pruning toolabout the vertical axis.

The pruning tool may be mounted on a rotational actuator, the rotationalactuator being supported by an arm above the plant support.

The arm may be configured to permit adjustment of a height of therotational actuator for disposing the pruning tool at a foliage heightof the plant.

The plant support may include a support surface sized to receive andsupport a base of the container, and at least one actuable clampdisposed to engage a portion of the container to secure the container tothe support surface.

The plant support may include a rotational actuator coupled to thesupport surface and operably configured to cause rotation of the supportsurface about the vertical axis, the rotational movement of the supportsurface in combination with the rotational movement of the pruning toolabout the vertical axis being together operable to provide therotational movement about the vertical axis.

The at least one actuable clamp may be spaced apart from the verticalaxis and moveable in a generally radial direction toward the verticalaxis to engage the container.

The pruning tool may include a plurality of adjacent actuated shearingblades disposed in an arc.

The pruning tool may be mounted for transverse movement in a transversedirection with respect to the vertical axis, or rotational movementabout an axis extending transversely with respect to from the verticalaxis, the transverse movement or rotational movement operable to disposethe pruning tool at a suitable spacing for pruning operations on plantshaving differing foliage spread with respect to the vertical axis.

The apparatus may include a repository disposed on the vehicle andproviding a storage volume for receiving cuttings removed from the plantby the pruning tool.

The apparatus may include an overflow repository having a wheeledchassis and operably configured to be trailered behind the wheeledchassis of the autonomous vehicle, the overflow repository being incommunication with the repository on the autonomous vehicle forreceiving clippings.

The repository may include a blower in fluid communication with thestorage volume and operable to draw air through at least one repositoryopening to collect and carry the cuttings via the repository openinginto the storage volume.

The pruning tool may include a plurality of adjacent actuated shearingblades disposed generally above the plant support at a plant foliageelevation and the repository opening may include a manifold having aplurality of repository openings, each opening disposed proximate arespective one of the plurality shearing blades, and a conduit extendingbetween the manifold and the storage volume.

The repository may be mounted to the vehicle at a location adjacent tothe plant support and the storage volume may extend vertically upwardalongside the container and plant when received on the plant support.

The repository may be disposed on the vehicle below the plant supportand the storage volume may have an opening peripherally surrounding theplant support for collecting the cuttings.

The opening may include a guide operably configured to direct cuttingstoward the opening.

The repository may be removably received on a transverse guide on thechassis to facilitate removal of the repository for emptying clippingsfrom the storage volume.

The apparatus may include a controller operably configured to controlthe vehicle in response to receiving signals from one or morenavigational sensors that provide navigational information and inresponse to receiving signals from one or more proximity sensorsresponsive to the presence of containers within the workspace.

The controller may include a processor circuit, a computer readablemedium including instructions for directing the processor circuit toreceive and respond to the signals produced by the more navigationalsensors and one or more proximity sensors.

In accordance with another disclosed aspect there is provided a methodimplemented by a controller of an autonomous vehicle having a wheeledchassis to perform pruning operations on plants being cultivated incontainers. The method involves (a) causing the autonomous vehicle toautonomously navigate to a location of a plurality of plant containerswithin a workspace, and (b) locating a first container of the pluralityof plant containers at a pickup location and causing a manipulatormounted to the vehicle to grasp and load the container onto a plantsupport, the plant support being operable to receive and secure thecontainer in an upright condition with respect to a vertical axisextending generally vertically through the container and the plant. Themethod further involves (c) causing a pruning tool mounted to thevehicle to prune the plant while a pruning tool mounted on the vehicleand disposed to prune the plant while causing rotational movement of atleast one of the pruning tool and the container about the vertical axis,and (d) causing the manipulator to grasp and unload the first containerto a drop-off location within the workspace. The method also involves(e) successively repeating steps (a) to (d) for remaining containers inthe plurality of plant containers.

BRIEF DESCRIPTION OF THE DRAWINGS

In drawings which illustrate disclosed embodiments,

FIG. 1 is a perspective view of an autonomous vehicle apparatus within aworkspace in accordance with a first disclosed embodiment;

FIG. 2 is an exploded perspective view of components of a plant supportof the vehicle apparatus shown in FIG. 1;

FIG. 3A is a front perspective view of a pruning tool and housing of thevehicle apparatus shown in FIG. 1;

FIG. 3B is a rear perspective view of the pruning tool and housing ofthe vehicle apparatus shown in FIG. 1;

FIG. 4A is a perspective view of an autonomous vehicle apparatus inaccordance with another disclosed embodiment;

FIG. 4B is a perspective view of the autonomous vehicle apparatus shownin FIG. 4A with a clipping repository removed;

FIG. 4C is a perspective view of the autonomous vehicle apparatus shownin FIG. 4A and a trailered overflow clipping repository;

FIG. 5 is a block diagram of a processor circuit for implementing anon-board controller of the autonomous vehicle apparatus shown in FIG. 1;

FIG. 6 is a flowchart depicting blocks of code for directing theprocessor circuit of FIG. 5 to control loading, pruning, and unloadingoperations of the vehicle apparatus shown in FIG. 1;

FIG. 7A-7F are a series of plan views of a workspace in which theprocess shown in FIG. 6 is implemented; and

FIG. 8 is a perspective view of an autonomous vehicle apparatus within aworkspace in accordance with another disclosed embodiment.

DETAILED DESCRIPTION

Referring to FIG. 1, an autonomous vehicle apparatus is shown generallyat 100 and includes a wheeled chassis 102 having a pair of drive wheels104 on each side of the chassis (only one pair of the drive wheels isvisible in FIG. 1). The autonomous vehicle 100 is operably configured toautonomously navigate to a location 106 at which a plurality of plantcontainers 108 are disposed within a workspace. The autonomous vehicle100 also includes a manipulator 110 mounted to the vehicle and operableto grasp and load one of the containers 108 onto a plant support 112. Inthe embodiment shown the manipulator 110 includes an end effector 140having fingers for grasping the containers 108.

One of the plurality of plant containers 108 (i.e. a container 114 inwhich a plant 116 is being cultivated) has been loaded by themanipulator 110 onto the plant support 112. The container 114 issupported and secured on the plant support 112 in an upright condition.The plant support 112 is also operable to cause rotation of thecontainer 114 about a vertical axis 118 extending generally verticallythrough the container 114 and the plant 116

The vehicle 100 also includes a pruning tool 120 mounted on the vehicleand disposed to prune the plant 116 while the container 114 is beingrotated on the plant support 112. The pruning tool 120 includes aplurality of adjacent shearing blades 122 which are actuated to performthe pruning operations. The shearing blades 122 are disposed in an arcgenerally above the plant support 112 at foliage elevation of the plant116. The pruning tool 120 is mounted within a housing 128 mountedrearwardly on the wheeled chassis 102 adjacent to the plant support 112and is able to move in one or more directions to facilitate positioningof the pruning tool to prune the plant 116. The pruning tool 120 may beimplemented using the RAP knife system, available from Packtti ofZwijndrecht, the Netherlands. The RAP knife is available in severalblade configurations and includes a pruning shear actuator 130 thatdrives the blades in a scissor action for performing pruning operations.In other embodiments, the pruning tool 120 may be implemented using astatic un-actuated blade that relies on rotation of the container 114for pruning the foliage of the plant 116.

The vehicle 100 further includes an on-board controller 132 forcontrolling operations of the autonomous vehicle. The controller 132 maybe in communication with various sensors for receiving inputs thatpermit the vehicle to be navigated by driving the drive wheels 104. Forexample, in the embodiment shown the vehicle 100 includes a lightdetection and ranging sensor (LIDAR) 134 and a stereoscopic camera 136both mounted on the manipulator 110. The LIDAR sensor 134 usesstructured laser light to form an image of the location 106 fordetecting and operating on objects such as the containers 108. Thestereoscopic camera 136 may provide similar functions. In someembodiments the controller 132 may additionally be in communication withwireless sensors 142 mounted on the wheeled chassis 102 that permitconnection to a wireless network within the workspace for receivingcommands and/or for receiving navigation information for autonomouslynavigating within the workspace. The wireless sensors 142 may be fixedto a rearward portion of the wheeled chassis 102 and are shown detachedin FIG. 1 for sake of illustration. In one embodiment the wirelesssensors 142 may include one or more ultra-wide band sensors (UWB) thatuse low energy short-range radio signals for communicating with UWBnavigation beacons disposed within the workspace (not shown). Signalsproduced by the UWB sensors may be used for navigation of the autonomousvehicle 100 within the workspace.

In the embodiment shown, the manipulator 110 is mounted to a base 138,which is rotatable with respect to the wheeled chassis 102 as describedin commonly owned US patent application entitled “MANIPULATOR APPARATUSFOR OPERATING ON ARTICLES” filed on Jul. 12, 2019, which is incorporatedherein by reference in its entirety. When attached to the rotatable base138, the manipulator 110 is able to move about the wheeled chassis 102without using the drive wheels 104 to reposition the vehicle 100, thusextending an accessible operating range of the manipulator 110 forloading and unloading the containers 108. The movement of the rotatablebase 138 is provided independent of the plant support 112, housing 128,and the wheeled chassis 102.

In the embodiment shown the plant support 112 includes a support surface124, which receives and supports a base of the container 114 and theplant support 112 is sized to support a plurality of different sizedcontainers. In this embodiment the plant support 112 includes aplurality of actuable clamps 126 that are spaced apart from the verticalaxis 118 and moveable in a generally radial direction toward thevertical axis to engage and secure the container 114.

Components of the plant support 112 are shown in more detail in explodedperspective view in FIG. 2. Referring to FIG. 2, the plant support 112includes a top plate 200 and a base plate 202. The top plate 200provides the support surface 124 that supports the container 114. Anintermediate plate 204 underlying the top plate 200 and an apertureplate 206 sandwiched between the top plate and base plate 202. The baseplate 202 is mounted on a flange 208 coupled via a gear train 210 to aplant support actuator 212 operably configured to cause rotation of thetop plate 200 and support surface 124 about the vertical axis 118.

Each actuable clamp 126 includes a clamp base 214 slideably received onand moveable along a guide rail 216 in the radial direction with respectto the vertical axis 118. A clamp jaw 218 is attached to the clamp base214 and when the plant support 112 is assembled, the clamp jaw protrudesabove the support surface 124. The top plate 200 and intermediate plate204 each include corresponding apertures 222 and 224 that permitmovement of the clamp base 214 within the support surface 124. Eachguide rail 216 is fixed to the base plate 202 via a post 226. The clamp126 further includes a cover plate 220 that slides within a recess 228in the support surface 124 and covers the aperture 222 in the top plate200 to prevent debris from passing through the aperture. The clamp base214 thus acts as a sliding portion of the clamp 126 and is thus able toslide along the guide rail 216 within the recess 228 and aperture 222.The clamp jaw 218 provides a protruding portion of the clamp 126 thatprotrudes above the support surface 124 and is disposed to engage thecontainer 114 when moved in a radially oriented direction toward thevertical axis 118.

The aperture plate 206 includes a spiral aperture 230 for each clamp126. The spiral aperture 230 is disposed to receive a bushing 232protruding downwardly from the clamp base 214. The aperture plate 206includes gear teeth 234 formed in an outer periphery of the apertureplate, which are configured to mesh with a toothed drive sprocket 236.The drive sprocket 236 is coupled to a clamp actuator 238 disposedwithin the wheeled chassis 102 that delivers a torque to the drivesprocket 236 for rotating the aperture plate 206. Rotation of theaperture plate 206 causes a generally radial force to be exerted on thebushing 232 for actuating the radial motion of the clamp 126. For theembodiment shown, rotation of the aperture plate 206 in a clockwisedirection causes each of the clamps 126 to move radially inwardly towardthe vertical axis 118 to engage the container 114. Similarly, rotationof the aperture plate 206 in an anti-clockwise direction causes each ofthe clamps 126 to move radially outward away from the vertical axis 118to release the container 114.

In the embodiment shown, each of the clamps 126 has a correspondingspiral aperture 230 within the aperture plate 206 and rotation of theaperture plate causes simultaneous motion of the clamps in the radialdirection toward or away from the vertical axis 118. In otherembodiments, the plant support 112 may be implemented using a differentclamping arrangement. For example, one of the three clamps shown in FIG.2 may be eliminated in favor of a dual actuated clamping arrangement.Alternatively, two of the actuable clams shown in FIG. 2 may be replacedby a fixed protruding rim, and a single actuable clamp may be used tosecure the container 114 against the protruding rim. More than threeclamps generally configured as shown in FIG. 2 may alternatively beimplemented to secure the container 114. In other embodiments the clampsmay be otherwise configured and actuated.

The housing 128 and the pruning tool 120 are shown in isolation in FIG.3A and FIG. 3B. Referring to FIG. 3A, the pruning tool 120 is mounted ona carriage 300 received on transversely oriented tracks 302. Movement ofthe carriage 300 is actuated by a pruner translation actuator 304coupled to a linear drive stage (not shown) that causes transversemovement of the carriage on the tracks 302 in a direction indicated bythe arrows 306 and 308. The transverse movement 306 allows the pruningtool 120 to be moved in the direction 306 to a deployed position, wherethe pruning tool is disposed to perform pruning operations on the plant116. Transverse movement in an opposite direction 308 facilitatesmovement of the pruning tool 120 to a stowed position, where the pruningtool is spaced away from the plant 116 and container 114 for loading ofthe container on the plant support 112 by the manipulator 110. In someembodiments the carriage 300 may be omitted and the pruning tool 120 mayremain in the deployed position during loading of the container 114.

The carriage 300 and tracks 302 are supported on a platform 310 mountedon rails 312. The rails 312 permit the platform 310 to be movedvertically in a direction shown by an arrow 314 generally aligned withthe vertical axis 118. The vertical movement facilitates positioning ofthe pruning tool 120 at a suitable elevation for pruning operations onthe plant 116. In the embodiment shown the vertical motion 314 isperformed manually by releasing clamps and positioning the platform 310at an appropriate height for the plants being pruned. Plants at the samestage of cultivation may generally be pruned with the pruning tool 120set at a fixed elevation. The elevation may subsequently be adjusted forother plants at differing stages of cultivation. In other embodimentsthe vertical motion 314 may be actuated by a motor or other actuator toperform an automated adjustment of the elevation of the pruning tool120.

The pruning tool 120 is also moveable in a direction 316 toward or awayfrom the vertical axis 118 for disposing the pruning tool at a suitablespacing for pruning operations on plants having differing foliage spreadwith respect to the vertical axis 118. In this embodiment, the carriage300 is moveable within slots in the platform 310 (one of which isvisible at 318 in FIG. 3) and the spacing is adjusted by releasing aclamp (not shown) and sliding the carriage 300 forwardly or rearwardlywith respect to the vertical axis 118.

Still referring to FIG. 3A, the housing 128 also includes a repository320 that provides a storage volume 322 for receiving cuttings removedfrom the plant 116 by the pruning tool 120. The storage volume isdefined within panels 324 of the housing 128 and extends verticallyupward alongside the vertical axis 118. The housing 128 is shown in rearperspective view in FIG. 3B. Referring to FIG. 3B, the repository 320includes a blower 326 in fluid communication with the storage volume322. The repository 320 also includes a repository opening 328 to thestorage volume 322 and the blower 326 is operable to draw air throughthe repository opening and storage volume to produce an airflow forcarrying clippings into the storage volume. The airflow is discharged tothe environment through an exhaust port 330. In this embodiment therepository opening 328 includes a manifold 332 that provides a pluralityof repository openings at the pruning tool 120.

Each opening is disposed proximate a respective one of the pluralityshearing blades 122 and a conduit 334 extends between the manifold andthe storage volume. Clippings generated by each of the shearing blades122 are thus locally collected and directed through the repositoryopening 328 to the storage volume 322. Clippings accumulate in thestorage volume 322 and are prevented from being discharged through theexhaust port 330 by placing a grid over an intake of the blower 326. Theaccumulated clippings may be removed from the storage volume 322 througha clipping discharge port 336 by hand or vacuumed out via a large boreconduit connected to the discharge port.

Referring to FIG. 4A, another autonomous vehicle apparatus embodiment isshown generally at 400 and includes a wheeled chassis 402 having a pairof drive wheels 404 on each side of the chassis (only one pair of thedrive wheels is visible in FIG. 4A). The vehicle 400 also includes amanipulator 406 mounted to the vehicle and operable to grasp and load acontainer 408 and plant 410 onto a plant support 412. The plant support412 is operable to secure the container 408 and cause rotation of thecontainer about a vertical axis 414 generally as described above inconnection with the embodiment shown in FIG. 1. The vehicle 400 alsoincludes a pruning tool 416, which is mounted to the wheeled chassis 402via a boom 418 and a post 420. In this embodiment the pruning tool 416is not transversely moveable, but may be manually raised or lowered byunlocking a pair of clamps 422 and adjusting the height of the post 420.Similarly the pruning tool 416 may be manually moved toward or away fromthe container 408 and plant 410 by unlocking a pair of clamps 424 on theboom 418 and moving the pruning tool 416 on the boom.

The vehicle 400 includes a repository 426 disposed on the wheeledchassis 102 of the vehicle generally below the plant support 112. Whenthe plant 410 is pruned, clippings will for most part fall towards theplant support 112 and enter an opening 428 peripherally surrounding theplant support. The opening 428 is in communication with a storage volumewithin the repository 426 for collecting the cuttings. In the embodimentshown the repository 426 further includes an annular guide 430, which isangled to direct cuttings toward the opening 428. The repository 426also includes a hinged flap 432 that can be opened to permit access tothe storage volume for removing accumulated clippings.

Referring to FIG. 4B, in one embodiment the repository 426 may beremovably received on a transverse guide 434 on the wheeled chassis 102of the vehicle 400. The transverse guide 434 permits that repository 426to be removed by sliding out the repository in the direction indicatedby the arrow 436. Once removed the, repository 426 may be turned upsidedown to emptying clippings through the opening 428 or the clipping maybe discharged via the hinged flap 432.

Referring to FIG. 4C, in another embodiment an overflow repository 440having a wheeled chassis 442 may be trailered behind the vehicle 400.The overflow repository 440 may be coupled to a hitch (not shown) on thewheeled chassis 402 of the vehicle 400. In this embodiment therepository 426 on the vehicle 400 has a discharge opening 444 and theoverflow repository 440 is in communication with the repository via aflexible duct 446 for receiving overflow clippings from the repository426. The overflow repository 440 provides an additional storage volumefor accumulating clippings thus reducing the required frequency ofemptying of the repository 426.

A block diagram of the on-board controller 132 (FIG. 1) is shown in moredetail in FIG. 5 and may be implemented using an embedded processorcircuit such as a Microsoft Windows® industrial PC. Referring to FIG. 5,the controller 132 includes a microprocessor 500, a computer readablemedium or memory 502, and an input output (I/O) 504, all of which are incommunication with the microprocessor 500. The I/O 504 includes awireless interface 506 (such as an IEEE 802.11 interface) for wirelesslyreceiving and transmitting data communication signals between thecontroller 132 and a network 508 within the workspace. The I/O 504 alsoincludes a wired network interface 510 (such as an Ethernet interface)for connecting to the LIDAR sensor 134 (shown in FIG. 1). The I/O 504further includes a USB interface 512 for connecting to a digital toanalog converter (DAC) 514 and to a pair of ultra-wideband transceivers(UWB) 516 and 518 used for autonomous navigation of the vehicle 100.

The DAC 514 includes a plurality of ports for receiving analog signalsand converting the analog signals into digital data representing thesignals and/or producing analog control signals. In the embodiment shownthe DAC 514 includes a port 520 for producing control signals forcontrolling the plant support actuator 212 to cause rotation of theplant support 112 an a port 522 for producing control signals foractuating the clamps 126. The DAC 514 also includes a port 524 forproducing control signals for controlling rotation of the rotatable base138 on which the manipulator 110 is mounted. The DAC 514 also includes aport 526 for producing control signals for controlling the manipulator110 and a port 528 for producing control signals for controlling the endeffector 140. The DAC 514 also includes a port 530 for producing controlsignals for controlling the drive wheels 104 for moving and steering thewheeled chassis 102 of the vehicle 100. The DAC 514 also includes a port532 for producing control signals for controlling the pruner actuator304 to move the pruning tool 120 between the deployed position and thestowed position. The DAC 514 further includes a port 534 for producingcontrol signals for activating the shearing blades 122 of the pruningtool 120.

Program codes for directing the microprocessor 500 to carry out variousfunctions are stored in a location 540 of the memory 502, which may beimplemented as a flash memory, for example. The program codes 540 directthe microprocessor 500 to implement an operating system (such asMicrosoft Windows for example) and to perform various other systemfunctions associated with operation of the apparatus 100. The memory 502also includes data storage locations 542 for storing data associatedwith operation of the autonomous vehicle 100.

Referring to FIG. 6, a flowchart depicting blocks of code for directingthe controller processor circuit 132 to control loading and pruningoperations of the apparatus 100 is shown at 600. The blocks generallyrepresent codes that may be read from the program codes location 540 ofthe memory 502 for directing the microprocessor 500 to perform variousfunctions. The actual code to implement each block may be written in anysuitable program language, such as C, C++, C#, Java, and/or assemblycode, for example.

The process begins at block 600, which directs the microprocessor 500 ofthe controller 132 to navigate the vehicle to the location 106 where thecontainers 108 are located (shown in FIG. 1). Block 602 thus directs themicroprocessor 500 to read navigation signals from the UWB 516 and 518and based on the navigation signals to produce wheel drive signals atthe port 530 of the DAC 514 for controlling the wheels of the autonomousvehicle 100 to drive to the location 106. Block 604 then directs themicroprocessor 500 to read the LIDAR sensor 134 and to position themanipulator 110 and end effector 140 for accessing the containers 108 atthe pick-up location. Block 604 may also direct the microprocessor 500to produce signals at the port 524 of the DAC 514 for causing the base138 to rotate to position the manipulator 110 with respect to thecontainer 114 being loaded. Block 606 then directs the microprocessor500 to position the end effector 140 for grasping the container 114based on the signals received from the LIDAR sensor 134.

The process 600 then continues at block 608, which directs themicroprocessor 500 to produce signals at the port 528 of the DAC 514 tocause the end effector 140 to grasp the container 114. Block 608 alsodirects the microprocessor 500 to produce signals at the port 526 of theDAC 514 for causing the manipulator 110 to load the container 114 ontothe plant support 112. Block 610 then directs the microprocessor 500 tocause the DAC 514 to produce signals at the port 522 for actuating theclamp actuator 238, which causes rotation of the aperture plate 206 andcauses the clamps 126 to close to secure the container 114 on the plantsupport 112.

The process 600 then continues at block 612, which directs themicroprocessor 500 to cause signals to be generated at the port 532 ofthe DAC 514 that cause the carriage 300 to move the pruning tool 120from the stowed position to the deployed position. Block 614 thendirects the microprocessor 500 to cause the DAC 514 to produce signalsat the port 520 to cause rotation of the plant support 112, thecontainer 114, and the plant 116. Block 614 also directs themicroprocessor 500 to cause the DAC 514 to produce signals at the port534 that activate the pruning shear actuator 130 to cause the shearingblades 122 to begin pruning operations. The plant 116 may be rotatedthrough one or more rotations of the plant support 112 while the foliageand/or shoots are pruned.

The process then continues at block 616, which directs themicroprocessor 500 to grasp and unload the container 114 at a drop-offlocation. As such block 616 directs the microprocessor 500 to cause theDAC 514 to produce signals for a series of operations, such as causingthe clamps 126 to release to facilitate unloading of the container 114,causing the manipulator 110 to move to permit the end effector 140 tograsp the container, moving the rotatable base 138 to access thedrop-off location, and placing the container at the drop-off location.

Block 618 then directs the microprocessor 500 to determine whether thereare more containers 108 at the location 106 that require pruningoperations on the plants being cultivated in the containers. If at block618, there remain containers at the location 106 to be processed, themicroprocessor 500 is directed back to block 604 and blocks 604-618 arerepeated. If at block 618, there are no further containers 108, themicroprocessor 500 is directed to block 620. Block 620 then directs themicroprocessor 500 to determine whether there are more containers withinthe workspace at another location that require pruning operations on theplants being cultivated in the containers. If at block 620, there remaincontainers in the workspace to be processed, the microprocessor 500 isdirected back to block 602 and blocks 602-618 are repeated.

The autonomous vehicle 100 thus navigates to a new location where thereare containers and plants to be pruned. If at block 620, there arecontainers within the workspace that require pruning, the microprocessor500 is directed back to block 622 and the process 600 ends. An exampleof the implementation of the process 600 is shown as a series of planviews of a workspace in FIGS. 7A-7F. Referring to FIG. 7A, theautonomous vehicle 100 is navigated in a direction indicated by an arrow700, where the manipulator 110 and end effector 140 have access to afirst plurality of containers 702 on a right had side of the vehicle.The autonomous vehicle 100 navigates to a first container 704 in thefirst plurality of containers 702 and the manipulator 110 and endeffector 140 are activated as shown in blocks 604-610 of the process 600to load the container 704 onto the plant support 112 of the vehicle.

In FIG. 7B, the loading of the first container 704 has been completedand a plant in the container is pruned in accordance with blocks 612-614of the process 600. In FIG. 7C, the container 704 is then unloaded inaccordance with block 616 at a drop-off location 706 on a left hand sideof the vehicle 100. The vehicle 100 then executes block 618 of theprocess 600 and determines that there are additional reachablecontainers in the first plurality of containers 702 aligned along thedirection 700 and repeats blocks 604-616 for these containers.

Referring to FIG. 7D, at some time the vehicle 100 will no longer beable to reach the next container in the first plurality of containers702 and the block 620 causes the vehicle to execute block 602 to movethe vehicle in the direction 700 to access further containers in thefirst plurality of containers. Blocks 604-616 are then executed untilall of the remaining containers in the first plurality of containers 702have been pruned and placed at the drop-off location 706.

Referring to FIG. 7E, when the autonomous vehicle 100 has completedoperations on the first plurality of containers 702, block 602 is againexecuted to cause the vehicle to turn around and navigate to place asecond plurality of containers 708 on the left hand side of the vehicle.The process then continues generally as described above until the secondplurality of containers 708 have been placed at a drop-off location 710.A remaining plurality of containers 712 will be similarly processed.

Referring to FIG. 7F, when all of the containers 702, 708, and 712 havebeen processed as described above, the processed containers have beenrelocated to the drop-off location. In some embodiments a verticaldistance 716 and horizontal distance 718 spacing between the unloadedpruned plant containers may differ from an original spacing of thecontainers as shown in FIG. 7A. The autonomous vehicle 100 may thusprune and re-space the containers at the same time. Similarly, thecontainers in FIG. 7A could also have been irregularly positioned andfollowing the pruning operation may be regularly spaced as shown in FIG.7F.

Referring to FIG. 8, an alternative embodiment of an autonomous vehicleis shown generally at 800. The autonomous vehicle 800 includes amanipulator 802 mounted to the vehicle and operable to grasp and load acontainer 804 onto a plant support 806. In the embodiment shown themanipulator 802 includes an end effector 808 having fingers for graspingthe container 804. The container 804 is supported and secured on theplant support 806 in an upright condition with respect to a verticalaxis 810. The vertical axis 810 extends generally vertically through thecontainer 804 and a plant 812 being cultivated in the container.

In this embodiment, the vehicle includes an arm 816 mounted on a housing814 of the vehicle. The arm supports a rotational actuator 818 above theplant 812 and container 804. The rotational actuator 818 includes amounting plate 820, which is coupled to a rotational drive 822. Therotational drive 822, when actuated, causes rotation of the mountingplate about the vertical axis 810. The rotational drive 822 may becontrolled by the controller 132 via the pruner actuator output port 532on the DAC 514 (FIG. 5). A pruning tool 824 is mounted to the mountingplate 820. As disclosed above, the pruning tool 824 includes a pluralityof adjacent shearing blades 826, which may be actuated via the port 534of the DAC 514 to perform pruning operations. In one embodiment therotational drive 822 may include slip rings (not shown) for routingdrive power and/or control signals for actuating the plurality ofadjacent shearing blades 826 to perform the pruning operations. Theshearing blades 826 are disposed in an arc generally above the plantsupport 806 at foliage elevation of the plant 812.

In this embodiment the housing 814 encloses a clipping repositoryconfigured generally as disclosed above in connection with therepository 320 shown in FIG. 3A. The vehicle 800 further includes aconduit 828 that extends between a repository opening 830 and thepruning tool 824 for collecting clippings generated by the shearingblades 122. In the embodiment shown the conduit 828 is flexible and isrouted around the rotational actuator 818. In other embodiments theconduit 828 may be routed via a fluid coupling associated with therotational drive 822. The conduit 828 may be connected to a manifold(not shown) associated with the pruning tool 824 and generallyconfigured as described in connection with FIGS. 3A and 3B above.

In this embodiment the arm 816 includes a vertical portion 832 and ahorizontal portion 834. In some embodiments the horizontal portion 834may be moveable with respect to the vertical portion 832 to provide aheight adjustment for the pruning tool 824 (i.e. in a z-axis directionwith respect to a coordinate frame 836). The movement may be manual ormay be provided by a linear actuator (not shown) coupled between thehorizontal portion 834 and the vertical portion 832. In such embodimentsthat provide an actuated height adjustment, the pruning tool 824 may beoperated at several different heights while completing a pruningoperation on the plant 812.

In operation, the autonomous vehicle 800 uses the manipulator 802 toload and place the container 804 on the plant support 806. In thisembodiment, the plant support 806 may be a static support in contrast tothe rotatable support surface 124 described above. The container 804,once secured on the plant support, may remain stationary with respect tothe vehicle 800. The rotational actuator 818 will generally be manuallyadjusted or, where implemented, automatically adjusted to dispose thepruning tool 824 and shearing blades 826 proximate the plant 812. Thecontroller 132 then generates signals at the pruner shear actuator port534 to cause the shears to be activated. The controller 132 furthergenerates signals at the pruner actuator port 532 to cause therotational drive 822 to rotate the mounting plate 820 about the verticalaxis 810. The pruning tool 824 is thus moved in an arc by the rotationaldrive 822 about the plant 812 while pruning the foliage and collectingclippings via the conduit 828.

While the plant support 806 has been described above as being staticwith respect to the autonomous vehicle 800, in other embodiments theplant support 806 may be rotatable as generally described above inconnection with the support surface 124 of the autonomous vehicle 100shown in FIG. 1. During pruning operations, the pruning tool 824 andplant support 806 may be simultaneously rotated to further reduce thetime of the pruning operation.

In the embodiment shown in FIG. 8, the pruning tool 824 is configuredfor motion rotation about the vertical axis 810 via the mounting plate820 and the horizontal portion 834 of the arm 816 may be adjusted inheight with respect to the vertical portion 832 (i.e. a translation inthe direction of the z-axis of the coordinate frame 836, as describedabove). As best shown in the insert 840 in FIG. 8, the arm 816 ismounted on tracks 842 and includes an actuator 844 for translating thearm in an x-axis direction with respect to the coordinate frame 836. Thetracks 842 and actuator 844 thus provide for an additional translationdegree of freedom. This additional degree of freedom allows the pruningtool 824 to be moved toward or away from the plant 812. Additionally,the tracks 842 are mounted on a platform 846 via a pair of slots 848,which permits movement in the y-axis direction by releasing clamps (notshown) below the platform and sliding the tracks and arm 816 in theslots. This degree of freedom allows the pruning tool 824 to be adjustedto be disposed alongside the plant 812. In other embodiments, the arm816 and rotational actuator 818 may include additional degrees offreedom. For example, the rotational actuator 818 or pruning tool 824may further include additional rotational actuators (also not shown) forrotating the rotational actuator 818 about they and x axes.

In other embodiments the rotational actuator 818 may be implemented inthe embodiments of FIGS. 4A-4C having a removably received repository.The post 420 and boom 418 shown in FIG. 4A may be adapted to carry therotational actuator 818. In the embodiments described above, themanipulator 110 and manipulator 406 are shown implemented as a selectivecompliance assembly robot arm (SCARA) manipulator, but in otherembodiments may be implemented using other manipulator configurations.

While specific embodiments have been described and illustrated, suchembodiments should be considered illustrative only and not as limitingthe disclosed embodiments as construed in accordance with theaccompanying claims.

What is claimed is:
 1. An autonomous vehicle apparatus for performingpruning operations on a plant being cultivated in a container, theapparatus comprising: a wheeled chassis operably configured toautonomously navigate to a location of the container within a workspace;a plant support operable to receive and secure the container in anupright condition with respect to a vertical axis extending generallyvertically through the container and the plant; a manipulator mounted tothe vehicle and operable to grasp and load the container onto the plantsupport; a pruning tool mounted on the vehicle and disposed to prune theplant while causing rotational movement of at least one of the pruningtool and the container about the vertical axis.
 2. The apparatus ofclaim 1 wherein the rotational movement is provided by rotating thepruning tool about the vertical axis.
 3. The apparatus of claim 2wherein the pruning tool is mounted on a rotational actuator, therotational actuator being supported by an arm above the plant support.4. The apparatus of claim 3 wherein the arm is configured to permitadjustment of a height of the rotational actuator for disposing thepruning tool at a foliage height of the plant.
 5. The apparatus of claim2 wherein the plant support comprises: a support surface sized toreceive and support a base of the container; and at least one actuableclamp disposed to engage a portion of the container to secure thecontainer to the support surface.
 6. The apparatus of claim 5 whereinthe plant support comprises a rotational actuator coupled to the supportsurface and operably configured to cause rotation of the support surfaceabout the vertical axis, the rotational movement of the support surfacein combination with the rotational movement of the pruning tool aboutthe vertical axis being together operable to provide the rotationalmovement about the vertical axis.
 7. The apparatus of claim 5 whereinthe at least one actuable clamp is spaced apart from the vertical axisand moveable in a generally radial direction toward the vertical axis toengage the container.
 8. The apparatus of claim 1 wherein the pruningtool comprises a plurality of adjacent actuated shearing blades disposedin an arc.
 9. The apparatus of claim 1 wherein the pruning tool ismounted for: transverse movement in a transverse direction with respectto the vertical axis; or rotational movement about an axis extendingtransversely with respect to from the vertical axis; the transversemovement or rotational movement operable to dispose the pruning tool ata suitable spacing for pruning operations on plants having differingfoliage spread with respect to the vertical axis.
 10. The apparatus ofclaim 1 further comprising a repository disposed on the vehicle andproviding a storage volume for receiving cuttings removed from the plantby the pruning tool.
 11. The apparatus of claim 10 further comprising anoverflow repository having a wheeled chassis and operably configured tobe trailered behind the wheeled chassis of the autonomous vehicle, theoverflow repository being in communication with the repository on theautonomous vehicle for receiving clippings.
 12. The apparatus of claim10 wherein the repository comprises a blower in fluid communication withthe storage volume and operable to draw air through at least onerepository opening to collect and carry the cuttings via the repositoryopening into the storage volume.
 13. The apparatus of claim 12 whereinthe pruning tool comprises a plurality of adjacent actuated shearingblades disposed generally above the plant support at a plant foliageelevation and wherein the repository opening comprises: a manifoldhaving a plurality of repository openings, each opening disposedproximate a respective one of the plurality shearing blades; and aconduit extending between the manifold and the storage volume.
 14. Theapparatus of claim 10 wherein the repository is mounted to the vehicleat a location adjacent to the plant support and the storage volumeextends vertically upward alongside the container and plant whenreceived on the plant support.
 15. The apparatus of claim 10 wherein therepository is disposed on the vehicle below the plant support and thestorage volume has an opening peripherally surrounding the plant supportfor collecting the cuttings.
 16. The apparatus of claim 15 wherein theopening comprises a guide operably configured to direct cuttings towardthe opening.
 17. The apparatus of claim 15 wherein the repository isremovably received on a transverse guide on the chassis to facilitateremoval of the repository for emptying clippings from the storagevolume.
 18. The apparatus of claim 1 further comprising a controlleroperably configured to control the vehicle in response to receivingsignals from one or more navigational sensors that provide navigationalinformation and in response to receiving signals from one or moreproximity sensors responsive to the presence of containers within theworkspace.
 19. The apparatus of claim 18 wherein the controllercomprises: a processor circuit; a computer readable medium includinginstructions for directing the processor circuit to receive and respondto the signals produced by the more navigational sensors and one or moreproximity sensors.
 20. A method implemented by a controller of anautonomous vehicle having a wheeled chassis to perform pruningoperations on plants being cultivated in containers, the methodcomprising: (a) causing the autonomous vehicle to autonomously navigateto a location of a plurality of plant containers within a workspace; (b)locating a first container of the plurality of plant containers at apickup location and causing a manipulator mounted to the vehicle tograsp and load the container onto a plant support, the plant supportbeing operable to receive and secure the container in an uprightcondition with respect to a vertical axis extending generally verticallythrough the container and the plant; (c) causing a pruning tool mountedto the vehicle to prune the plant while a pruning tool mounted on thevehicle and disposed to prune the plant while causing rotationalmovement of at least one of the pruning tool and the container about thevertical axis; (d) causing the manipulator to grasp and unload the firstcontainer to a drop-off location within the workspace; (e) successivelyrepeating steps (a) to (d) for remaining containers in the plurality ofplant containers.